Fully Persistent Spatial Data Structures for Efficient Queries in Path-Dependent Motion Planning Applications
Sathwik Karnik,Tomás Lozano-Pérez,Leslie Pack Kaelbling,Gustavo Nunes Goretkin,Sathwik Karnik,Tomás Lozano-Pérez,Leslie Pack Kaelbling,Gustavo Nunes Goretkin
Motion planning is a ubiquitous problem that is often a bottleneck in robotic applications. We demonstrate that motion planning problems such as minimum constraint removal, belief-space planning, and visibility-aware motion planning (VAMP) benefit from a path-dependent formulation, in which the state at a search node is represented implicitly by the path to that node. A naïve approach to computing...
